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• W2004165258 abstract "This paper uses the recently developed novel robust terminal sliding mode control (NRTSMC) and under-actuated system sliding mode control (USSMC) approaches to solve the strong coupling and under-actuated problems of a small quad-rotor unmanned helicopter (QRUH). The two controllers have been widely adopted to act as a single control algorithm in many fields, respectively. However, this paper just displays the useful composite application of the two controllers. The QRUH model can be divided into two subsystems, including a fully actuated subsystem (FAS) and an under-actuated subsystem (UAS). For the FAS, the NRTSMC is used to solve the strong coupling problem, it can guarantee the FAS states converge to the desired equilibrium in a very short time, then the states are treated as time invariants and the UAS gets simplified. For the UAS, the USSMC is utilized to solve the under-actuated problem. The obtained simulation results show the applicability of the composite control when faced with external disturbances." @default.
• W2004165258 created "2016-06-24" @default.
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• W2004165258 date "2014-06-01" @default.
• W2004165258 modified "2023-10-16" @default.
• W2004165258 title "Quad-rotor unmanned helicopter control via novel robust terminal sliding mode controller and under-actuated system sliding mode controller" @default.
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• W2004165258 doi "https://doi.org/10.1016/j.ijleo.2013.11.069" @default.
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